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CN102990679A - Flexible-wheel protecting structure and robot arm part adopting same - Google Patents

Flexible-wheel protecting structure and robot arm part adopting same Download PDF

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Publication number
CN102990679A
CN102990679A CN2011102755534A CN201110275553A CN102990679A CN 102990679 A CN102990679 A CN 102990679A CN 2011102755534 A CN2011102755534 A CN 2011102755534A CN 201110275553 A CN201110275553 A CN 201110275553A CN 102990679 A CN102990679 A CN 102990679A
Authority
CN
China
Prior art keywords
tumbler
flexbile gear
fixture
mechanical arm
protection structure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2011102755534A
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Chinese (zh)
Other versions
CN102990679B (en
Inventor
徐晓明
戴家鹏
刘振星
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Original Assignee
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hongfujin Precision Industry Shenzhen Co Ltd, Hon Hai Precision Industry Co Ltd filed Critical Hongfujin Precision Industry Shenzhen Co Ltd
Priority to CN201110275553.4A priority Critical patent/CN102990679B/en
Priority to TW100134480A priority patent/TWI458615B/en
Priority to US13/437,129 priority patent/US9109685B2/en
Publication of CN102990679A publication Critical patent/CN102990679A/en
Application granted granted Critical
Publication of CN102990679B publication Critical patent/CN102990679B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B25J19/065—Mechanical fuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D9/00—Couplings with safety member for disconnecting, e.g. breaking or melting member
    • F16D9/06—Couplings with safety member for disconnecting, e.g. breaking or melting member by breaking due to shear stress
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/63—Frangible connections
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)

Abstract

一种柔轮保护结构，其包括第一转动件、第二转动件、至少一个固定件，第一转动件与柔轮连接，第二转动件套设于第一转动件上，该至少一个固定件穿设于第一转动件与第二转动件上以使第一转动件与第二转动件止转连接，当第二转动件承受的扭矩超过一个预设值，该至少一个固定件能够断裂以使第二转动件相对第一转动件转动。本发明还提供了一种采用该柔轮保护结构的机器人臂部件。该柔轮保护结构结构较为简单，且采用了较少的连接部件，因而具有较高的刚性。

Figure 201110275553

A flexible spline protection structure, which includes a first rotating part, a second rotating part, and at least one fixed part, the first rotating part is connected with the flexible spline, the second rotating part is sleeved on the first rotating part, and the at least one fixed The first rotating member and the second rotating member are threaded through the first rotating member and the second rotating member so that the first rotating member and the second rotating member are connected in a non-rotational manner. When the torque suffered by the second rotating member exceeds a preset value, the at least one fixing member can break to make the second rotating member rotate relative to the first rotating member. The invention also provides a robot arm component adopting the flexspline protection structure. The flexspline protection structure is relatively simple in structure and uses fewer connecting parts, so it has higher rigidity.

Figure 201110275553

Description

Flexbile gear is protected structure and is adopted the robot arm of this flexbile gear protection structure
Technical field
The present invention relates to a kind of flexbile gear protection structure, particularly a kind of robot arm that is applied to the flexbile gear protection structure in the robot and adopts this flexbile gear protection structure.
Background technology
Robot arm generally includes the first mechanical arm, the second mechanical arm and is arranged in the robot arm and interconnective reducing gear and transmission mechanism, and the first mechanical arm is rotationally connected by reducing gear and transmission mechanism and the second mechanical arm.When the second mechanical arm is collided or the moment of torsion that bears when excessive, easily cause the flexbile gear in the reducing gear to be damaged.Therefore; flexbile gear protection structure need to be set in robot; and industrial flexbile gear commonly used protection structure often comprises motor, power transmission shaft and connector; when collision occured, reducing gear avoided damaging the interior flexbile gear of reducing gear thereby Electric Machine Control power transmission shaft and connector drive the transmission mechanism disengaging.But the attaching parts of this flexbile gear protection structure are many, complex structure, and getting loose appears in junction between each element easily, and rigidity is lower.
Summary of the invention
In view of foregoing, be necessary to provide a kind of simple in structure, and the higher flexbile gear of rigidity is protected structure and is adopted this flexbile gear to protect the robot arm of structure.
A kind of flexbile gear protection structure; it comprises the first tumbler, the second tumbler, at least one fixture; the first tumbler is connected with flexbile gear; the second tumbler is sheathed on the first tumbler; this at least one fixture is arranged on the first tumbler and the second tumbler so that the first tumbler is connected with the second tumbler spline; the moment of torsion that bears when the second tumbler surpasses a preset value, and this at least one fixture can rupture so that the second tumbler rotates relative to the first tumbler.
A kind of robot arm; it comprises the first mechanical arm that mutually is rotationally connected by flexbile gear; the second mechanical arm and flexbile gear protection structure; this flexbile gear protection structure comprises the first tumbler; the second tumbler that is fixedly connected with the second mechanical arm; at least one fixture; the first tumbler is connected with flexbile gear; the second tumbler is sheathed on the first tumbler; this at least one fixture is arranged on the first tumbler and the second tumbler so that the first tumbler is connected with the second tumbler spline; the moment of torsion that bears when the second tumbler surpasses a preset value, and this at least one fixture can rupture so that the second tumbler rotates relative to the first tumbler.
This flexbile gear protection structure only comprises first, second tumbler and at least one fixture, and structure is comparatively simple, and because having adopted less attaching parts, thereby have higher rigidity.
Description of drawings
Fig. 1 is for adopting the embodiment of the present invention flexbile gear to protect the schematic perspective view of the robot arm of structure.
Fig. 2 is the perspective exploded view of robot arm shown in Figure 1.
Fig. 3 is the three-dimensional exploded view of deceleration device shown in Figure 1, mistake line cylinder and flexbile gear protection structure.
Fig. 4 is the three-dimensional exploded view at another visual angle of deceleration device shown in Figure 3, mistake line cylinder and flexbile gear protection structure.
Fig. 5 is that robot arm shown in Figure 1 is along the partial sectional view of V-V.
The main element symbol description
Robot arm 100
The first mechanical arm 10
The second mechanical arm 20
Deceleration device 30
Flexbile gear protection structure 40
Cross the line cylinder 50
The first connecting portion 11
The second connecting portion 21
Receiving space 13、23
Actuator 31
Flexbile gear 33
The accommodation section 331
First gear teeth 3311
Flange 333
Steel wheel 35
Inwall 351
Second gear teeth 3511
Bearing 37
The first tumbler 41
Depressed part 411
The first fitting surface 413
Pilot hole 4131、4311
Installation portion 415
The first installed surface 4151
The first groove 417
The first fixed part 419
The first fixing hole 4191
The second tumbler 43
The second fitting surface 431
The second fixed part 433
The second fixing hole 4331
The second groove 435
Rolling member 45
Fixture 47
Body 51
The convex extension part 53
The following specific embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
The specific embodiment
See also Fig. 1 and Fig. 2, robot arm 100 comprises the first mechanical arm 10, the second mechanical arm 20, deceleration device 30, flexbile gear protection structure 40 and crosses line cylinder 50.The first mechanical arm 10 and the second mechanical arm 20 are rotationally connected mutually.Deceleration device 30 is arranged between the first mechanical arm 10 and the second mechanical arm 20, in order to the transmission of power of the first mechanical arm 10 is given the second mechanical arm 20 and reached the rotating speed that reduces the second mechanical arm 20 and the effect that increases its torque.Flexbile gear protection structure 40 is arranged between deceleration device 30 and the second mechanical arm 20 and lost efficacy in order to prevent that deceleration device 30 from damaging.Cross line cylinder 50 and be arranged in deceleration device 30 and the flexbile gear protection structure 40, and its two ends are contained in respectively in the first mechanical arm 10 and the second mechanical arm 20, be used for accommodating the circuit of robot arm 100.
The first mechanical arm 10 and the second mechanical arm 20 are hollow structure, and the first mechanical arm 10 1 ends are formed with the first connecting portion 11, the second mechanical arms 20 corresponding the first connecting portions 11 and are formed with the second connecting portion 21.The first connecting portion 11 is rotationally connected with the second connecting portion 21, and in wherein forming the corresponding receiving space 13,23 that communicates.
See also Fig. 3 and Fig. 4, deceleration device 30 comprises actuator 31, flexbile gear 33, steel wheel 35 and bearing 37.It is interior and affixed with flexbile gear 33 that actuator 31 is arranged in flexbile gear 33, steel wheel 35 and bearing 37 adjacent being sheathed on the flexbile gear 33.In the present embodiment, deceleration device 30 is harmonic wave speed reducing machine, and actuator 31 is wave producer.
Flexbile gear 33 is cylindric, and it comprises a flange 333 that roughly is the accommodation section 331 of hollow circular cylinder shape and is formed at accommodation section 331 1 ends.Accommodation section 331 can wear for actuator 31.Be formed with first gear teeth 3311 on the outer wall of accommodation section 331.Steel wheel 35 is circular, comprises an inwall 351 that adapts with accommodation section 331, is formed with second gear teeth 3511 that are meshed with the first gear 3311 on the inwall 351.Exist the number of teeth poor between first gear teeth 3311 on the flexbile gear 33 and second gear teeth 3511 on the steel wheel 35.Bearing 37 is sheathed on the accommodation section 331 of flexbile gear 33, and its outer ring is fixed on the flange 333 of flexbile gear 33, and inner ring is fixed on the steel wheel 35.
Flexbile gear protection structure 40 comprises the first tumbler 41, the second tumbler 43, a plurality of rolling member 45 and a plurality of fixture 47.Flexbile gear protection structure 40 turning sets are located on the actuator 31 and are fixed on the steel wheel 35.
The first tumbler 41 is annular, and it sets to the concave on an end face and forms depressed part 411, and corresponding depressed part 411 forms first fitting surface 413 towards this end face of an annular.The first tumbler 41 is included in also that depressed part 411 inner edges set to the concave the installation portion 415 that forms, the first fixed part 419 of first groove 417 of " V " shape of being opened in the first tumbler 41 outer surfaces and the annular that forms around depressed part 411.Depressed part 411 is step-like ringwise, offers the pilot hole 4131 around depressed part 411 peripheries on the first fitting surface 413, uses for steel wheel 35 installings.Installation portion 415 comprises the first installed surface 4151 of an annular.The first groove 417 is opened in the first tumbler 41 peripheries approximate mid-section position vertically.The first fixed part 419 is in a side of the first groove 417 and radially offers four the first fixing holes 4191 that communicate with depressed part 411.Four the first fixing holes 4191 evenly distribute along the first fixed part 419 peripheries.
The second tumbler 43 is sheathed on the first tumbler 41, and it is for roughly circular.The second tumbler 43 comprises the second fitting surface 431 of being formed on the end face, is raised in the second fixed part 433 on another end face, and second groove 435 of " V " shape that is arranged with around the second tumbler 43 inner surfaces.The second tumbler 43 connects on the second fitting surface 431 and offers pilot hole 4311, on the second mechanical arm 20.The second fixed part 433 is along the second tumbler 43 inner edges to the annular projection that protrudes out away from the second fitting surface 431 directions.Offer four the second fixing holes 4331 around the second fixed part 433 peripheries.The first fixing hole 4191 corresponding communicating on the second fixing hole 4331 and the first fixed part 419.The second groove 435 is relative with the first groove 417 openings to form one in order to accommodate the receiving space of rolling member 45.
Rolling member 45 is a plurality of and for cylindric, it rollably is installed between the first tumbler 41 and the second tumbler 43.
In the present embodiment, the quantity of fixture 47 is four, and each fixture 47 is made by ceramic material and to be cylinder pin-shaped.
Cross line cylinder 50 and be tubular, it comprises ring body 51 and by the coaxial quill shaft shape that extends to form of an end of ring body 51 and the convex extension part 53 that is interconnected with body 51.
See also Fig. 5, during assembling, flexbile gear 33 is contained in the first mechanical arm 10, and flange 333 is fixed in the first mechanical arm 10.Actuator 31 is fixed in the accommodation section 331 of flexbile gear 33, and the convex extension part 53 that will cross line cylinder 50 is arranged in the actuator 31, body 51 is fixed in the second mechanical arm 20.
Bearing 37 is movably set on the accommodation section 331 of flexbile gear 33 and its outer ring is fixed on the flange 333 of flexbile gear 33.The contiguous bearings 37 of steel wheel 35 are sheathed on the accommodation section 331 of flexbile gear 33 and steel wheel 35 are fixed on the inner ring of bearing 37.Second gear teeth 3511 on the inwall 351 of steel wheel 35 are meshed with first gear teeth 3311 on the flexbile gear 33.The first tumbler 41 is sheathed on the actuator 31 and with the first tumbler 41 rotationally by bearing is arranged at steel wheel 35 away from an end of flange 333, wherein 419 activities of the first fixed part are sleeved on the steel wheel 35 and steel wheel 35 parts are contained in the depressed part 411 and are fixed on the first fitting surface 413.A plurality of rolling members 45 are inserted in the first groove 417 of the first tumbler 41, and the axes intersect of adjacent rolling member 45 becomes 90 degree cross arrangements.The second groove 435 of the second tumbler 43 is sheathed on the first tumbler 41 in the face of the first groove 417 and with the second tumbler 43.This moment, the second fixed part 433 was sheathed on the first fixed part 419, and the first fixing hole 4191 and the second fixing hole 4331 corresponding communicating.A plurality of fixtures 47 are arranged in respectively in corresponding first fixing hole 4191 and second fixing hole 4331 so that the first tumbler 41 is connected with the second tumbler 43 splines.The second fitting surface 431 of the second tumbler 43 is fixedly installed on the second mechanical arm 20, has more than finished the installation of robot arm 100.
During use, actuator 31 drives flexbile gear 33 rotations, and flexbile gear 33 drives the first mechanical arm 10 and steel wheel 35 rotates, and steel wheel 35 drives 20 rotations of the second mechanical arm by flexbile gear protection structure 40.Because it is poor that flexbile gear 33 and steel wheel 35 have the number of teeth, meeting is so that the first mechanical arm 10 is different from the rotating speed of the second mechanical arm 20, and bearing 37 can be isolated the rotation between the first mechanical arm 10 and the second mechanical arm 20.When the second mechanical arm 20 is collided the generation excessive torque; for example surpass a preset value; the second mechanical arm 20 drives the second tumbler 43 and rotates and fixture 47 is fractureed relative to the first tumbler 41; making the second tumbler 43 do self adaptation relative to the first tumbler 41 by a plurality of rolling members 45 rotates; and then interrupt the power transmission of the first mechanical arm 10, thereby protect first, steel wheel 33, the elements such as 35 be without prejudice.
When the moment of torsion that flexbile gear that the robot arm 100 of embodiment of the present invention adopts protection structure 40 is born by fixture 47 is set so that when the second mechanical arm 20 is excessive; and fixture 47 is made by hard crisp ceramic material; so that the fixture rigidity is stronger; and when being subject to excessive torque; because its material is more crisp; under strain, fracture, can interrupt being connected of the second mechanical arm 20 and deceleration device 30, thereby deceleration device 30 is not damaged.This flexbile gear protection structure 40 only comprises first, second tumbler 41,43, a plurality of rolling member 45 and four fixtures 47, and structure is comparatively simple.Because adopting less Connection Element, thereby have higher rigidity, and can not increase the volume of robot arm 100 on overall structure.In addition, owing to be provided with line cylinder 50, thereby can increase the axiality of deceleration device 30 and flexbile gear protection structure 40, reduce the shake of robot arm 100.
The quantity that is appreciated that the first fixing hole 4191 and the second fixing hole 4331 can change as required, and the quantity of fixture 47 correspondingly changes, and is for example one or more.
The aperture that is appreciated that the first fixing hole 4191 and the second fixing hole 4331 can change as required, and the diameter of fixture 47 correspondingly changes so that its moment of torsion of being preset at the second mechanical arm 20 can rupture.
Be appreciated that first, second tumbler 41,43 and a plurality of rolling member 45 can be by crossed roller bearing by the first fixed part 419 being set and the second fixed part 433 is made.
In addition, those skilled in the art also can do other variation in spirit of the present invention, and certainly, the variation that these are done according to spirit of the present invention all should be included in the present invention's scope required for protection.

Claims (10)

1. a flexbile gear is protected structure; it comprises the first tumbler and the second tumbler; the first tumbler is connected with flexbile gear; it is characterized in that: described flexbile gear protection structure also comprises at least one fixture; described the second tumbler is sheathed on described the first tumbler; described at least one fixture is arranged on described the first tumbler and described the second tumbler so that described the first tumbler is connected with described the second tumbler spline; the moment of torsion that bears when described the second tumbler surpasses a preset value, and described at least one fixture can rupture so that described the second tumbler rotates relative to described the first tumbler.
2. flexbile gear as claimed in claim 1 is protected structure, and it is characterized in that: described fixture is made by ceramic material.
3. flexbile gear as claimed in claim 1 is protected structure, it is characterized in that: described flexbile gear protection structure also comprises a plurality of rolling members, and described a plurality of rolling members are arranged between described the first tumbler and described the second tumbler rotationally.
4. flexbile gear as claimed in claim 1 is protected structure; it is characterized in that: described first, second tumbler is circular; described the first tumbler is formed with the first fixed part around its end face periphery; described the second tumbler is formed with the second fixed part around its end face periphery, and described at least one fixture is arranged in described the first tumbler is fixedly connected with described the second tumbler.
5. flexbile gear as claimed in claim 4 is protected structure; it is characterized in that: offer at least one first fixing hole on described the first fixed part; correspondence offers at least one second fixing hole on described the second fixed part; described at least one first fixing hole with described at least one the second fixing hole is corresponding communicates, described at least one fixture correspondence is arranged in described at least one first fixing hole and described at least one second fixing hole.
6. robot arm; it comprises the first mechanical arm that mutually is rotationally connected by flexbile gear; the second mechanical arm; and flexbile gear protection structure; described flexbile gear protection structure comprises the first tumbler and the second tumbler that is fixedly connected with described the second mechanical arm; described the first tumbler is connected with flexbile gear; it is characterized in that: described flexbile gear protection structure also comprises at least one fixture; described the second tumbler is sheathed on described the first tumbler; described at least one fixture is arranged on described the first tumbler and described the second tumbler so that described the first tumbler is connected with described the second tumbler spline; the moment of torsion that bears when described the second tumbler surpasses a preset value, and described at least one fixture can rupture so that described the second tumbler rotates relative to described the first tumbler.
7. flexbile gear as claimed in claim 6 is protected structure, it is characterized in that: described flexbile gear protection structure also comprises a plurality of rolling members, and described a plurality of rolling members are arranged between described the first tumbler and described the second tumbler rotationally.
8. robot arm as claimed in claim 6, it is characterized in that: described robot arm also comprises deceleration device, described deceleration device comprises flexbile gear, steel wheel and bearing, be provided with first gear teeth on the described flexbile gear, be provided with second gear teeth that are meshed with first gear teeth on the described steel wheel, and described first gear teeth and second gear teeth exist the number of teeth poor, described bearing is movably set on the described flexbile gear, described flexbile gear be fixed on described the first mechanical arm and with the outer ring Joint of described bearing, described steel wheel is fixedly connected with described the second mechanical arm and is fixed on the inner ring of described bearing.
9. robot arm as claimed in claim 7, it is characterized in that: described deceleration device also comprises actuator, described the first tumbler is sheathed on rotationally on the described actuator and is fixed on the described steel wheel.
10. robot arm as claimed in claim 8, it is characterized in that: described actuator is wave producer, and described fixture is made by ceramic material.
CN201110275553.4A 2011-09-16 2011-09-16 Flexbile gear operator guards and adopt the robot arm of this flexbile gear operator guards Expired - Fee Related CN102990679B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201110275553.4A CN102990679B (en) 2011-09-16 2011-09-16 Flexbile gear operator guards and adopt the robot arm of this flexbile gear operator guards
TW100134480A TWI458615B (en) 2011-09-16 2011-09-23 Flexspline protecting structure and robot arm assembly using the same
US13/437,129 US9109685B2 (en) 2011-09-16 2012-04-02 Flexspline protective structure and robot arm mechanism using same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110275553.4A CN102990679B (en) 2011-09-16 2011-09-16 Flexbile gear operator guards and adopt the robot arm of this flexbile gear operator guards

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Publication Number Publication Date
CN102990679A true CN102990679A (en) 2013-03-27
CN102990679B CN102990679B (en) 2015-07-29

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US (1) US9109685B2 (en)
CN (1) CN102990679B (en)
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CN106994681A (en) * 2017-04-01 2017-08-01 佛山华数机器人有限公司 A kind of high rigidity six-joint robot
CN109986549A (en) * 2019-05-10 2019-07-09 江苏开璇智能科技有限公司 A kind of hollow ultrathin outer rotor harmonic reduction all-in-one machine
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US9109685B2 (en) 2015-08-18

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